The invention provides a quadruped robot and a flexible spine joint thereof. The quadruped robot comprises a front trunk, a rear trunk, two steering engines and a flexible spine joint, the front trunk and the rear trunk are in an inverted-T shape, the bottom edge of each of the front trunk and the rear trunk is provided with two legs used for moving, and the flexible spine joint comprises a joint front part connected to the front trunk, a joint rear part connected to the rear trunk, a joint middle part arranged between the joint front part and the joint rear part and rotationally connected with the joint front part and the joint rear part to form a front revolute pair and a rear revolute pair, a front torsional spring arranged at the joint of the joint middle part and the joint front part, a rear torsional spring arranged at the joint of the joint middle part and the joint rear part, two gyroscopes respectively fixed at the gravity center of the front trunk and the gravity center of the rear trunk and used for carrying out acceleration detection, and two motors respectively connected with the joint front part and the joint rear part through couplings and used for receiving feedback signals. Therefore, the landing direction of the quadruped robot is automatically adjusted.
本发明提供一种四足机器人及其柔性脊柱关节,该四足机器人包括:前躯干、后躯干,呈凸字型,底部边缘处具有两只用于移动的腿、两个舵机以及柔性脊柱关节,该柔性脊柱关节包括:关节前部,连接于前躯干上;关节后部,连接于后躯干上;关节中部,设置于关节前部与关节后部之间,并与关节前部之间以及与关节后部之间转动连接,形成前转动副与后转动副;前扭簧,设置于关节中部与关节前部的连接处;后扭簧,设置于关节中部与关节后部的连接处;两个陀螺仪,分别固定于前躯干的重心处以及后躯干的重心处,用于进行加速度检测;以及两个电机,分别通过联轴器与关节前部以及关节后部连接,用于接收反馈信号,从而自动调整四足机器人的落地朝向。
Quadruped robot and flexible spine joint thereof
一种四足机器人及其柔性脊柱关节
2021-06-08
Patent
Electronic Resource
Chinese
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